1. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 1 ID 025C: An Introduction to the OSEK Operating System Version 1.0

2. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 2 James Dickie Product Manager for Embedded Software Real-time operating systems AUTOSAR software components Software logic analyzer Experience: 10 years working in Automotive software engineering Previous experience of real-time and embedded software engineering in the Oil & Gas and Telecoms industries Education: Ph.D. in Digital Signal Processing, University of Strathclyde, Scotland B. Eng. in Electronic Engineering, University of Strathclyde, Scotland

3. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 3 Renesas Technology and Solution Portfolio Microcontrollers & Microprocessors #1 Market share worldwide * Analog and Power Devices #1 Market share in low-voltage MOSFET** Solutions for Innovation ASIC, ASSP & Memory Advanced and proven technologies * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 **Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis).

4. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 4 4 Renesas Technology and Solution Portfolio Microcontrollers & Microprocessors #1 Market share worldwide * Analog and Power Devices #1 Market share in low-voltage MOSFET** ASIC, ASSP & Memory Advanced and proven technologies * MCU: 31% revenue basis from Gartner "Semiconductor Applications Worldwide Annual Market Share: Database" 25 March 2010 **Power MOSFET: 17.1% on unit basis from Marketing Eye 2009 (17.1% on unit basis). Solutions for Innovation

5. 55 Microcontroller and Microprocessor Line-up Superscalar, MMU, Multimedia  Up to 1200 DMIPS, 45, 65 & 90nm process  Video and audio processing on Linux  Server, Industrial & Automotive  Up to 500 DMIPS, 150 & 90nm process  600uA/MHz, 1.5 uA standby  Medical, Automotive & Industrial  Legacy Cores  Next-generation migration to RX High Performance CPU, FPU, DSC Embedded Security  Up to 10 DMIPS, 130nm process  350 uA/MHz, 1uA standby  Capacitive touch  Up to 25 DMIPS, 150nm process  190 uA/MHz, 0.3uA standby  Application-specific integration  Up to 25 DMIPS, 180, 90nm process  1mA/MHz, 100uA standby  Crypto engine, Hardware security  Up to 165 DMIPS, 90nm process  500uA/MHz, 2.5 uA standby  Ethernet, CAN, USB, Motor Control, TFT Display High Performance CPU, Low Power Ultra Low Power General Purpose

6. 66 Microcontroller and Microprocessor Line-up Superscalar, MMU, Multimedia  Up to 1200 DMIPS, 45, 65 & 90nm process  Video and audio processing on Linux  Server, Industrial & Automotive  Up to 500 DMIPS, 150 & 90nm process  600uA/MHz, 1.5 uA standby  Medical, Automotive & Industrial  Legacy Cores  Next-generation migration to RX High Performance CPU, FPU, DSC Embedded Security  Up to 10 DMIPS, 130nm process  350 uA/MHz, 1uA standby  Capacitive touch  Up to 25 DMIPS, 150nm process  190 uA/MHz, 0.3uA standby  Application-specific integration  Up to 25 DMIPS, 180, 90nm process  1mA/MHz, 100uA standby  Crypto engine, Hardware security  Up to 165 DMIPS, 90nm process  500uA/MHz, 2.5 uA standby  Ethernet, CAN, USB, Motor Control, TFT Display High Performance CPU, Low Power Ultra Low Power General Purpose

7. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 7 Innovation Take control of embedded projects with an OS and tools designed for the job

8. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 8 An Introduction to the OSEK Operating System Agenda What is an OSEK operating system? Why use OSEK OS Overview of OSEK OS objects and configuration How to build applications with OSEK OS OSEK OS: The future

9. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 9 What is an OSEK Operating System? An operating system allows you to partition and control applications running on a CPU, whilst responding efficiently to interrupts OSEK OS gives A very efficient scheduler for tasks and interrupts Creation of critical code sections Time-based triggering of tasks Support for debugging It does not provide Drivers for graphics, file systems or networks The ability to spawn new tasks Memory protection Support for multicore processors

10. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 10 Why use an OSEK Operating System? Motivation Embedded software development is often very product or project focussed… Deadlines Code Reuse Maintenance Shorter Development Cycles New Features Reduce Costs New Hardware …resulting in a loss of control in software development and direction

11. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 11 Why use an OSEK Operating System? Benefits Specification of standard interfaces Savings in costs and development time Enhanced quality of control unit software Independence from individual implementations Efficient design architecture: configurable and scaleable Hardware and compiler abstraction Static configuration gives low overheads Better partitioning and maintenance of application software Mature standard Used in millions of ECUs worldwide Used in all classes of vehicle electronics Body controllers Powertrain Chassis Multimedia

12. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 12 OSEK Origins OSEK/VDX resulted from the joining of French and German standardization efforts OSEK = “Offene Systeme und deren Schnittstellen für die Elektronik im Kraftfahrzeug” Open Systems and the Corresponding Interfaces for Automotive Electronics VDX = Vehicle Distributed eXecutive OSEK is a joint project of the automotive industry “Industry standard for an open-ended architecture for distributed control units in vehicles” The resulting specifications are open for anyone to use OSEK has been standardised by the ISO ISO 17356 Road vehicles -- Open interface for embedded automotive applications

13. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 13 The OSEK Specifications Overview OSEK is more than just the operating system! A number of complimentary specifications exist A Binding is used to identify sets of specifications that work together Certification is available See www.osek-vdx.org for full detailswww.osek-vdx.org

14. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 14 The OSEK Specifications Operating System There are three specifications around the OS OSEK OS An event-driven operating system OSEK Implementation Language (OIL) A text-based description of an OSEK configuration Portable between development tools OSEK Run Time Interface (ORTI) An interface that allows a suitable debugger to see the OS status

15. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 15 The OSEK Specifications Communications OSEK also provides specifications for communication OSEK COM Allows communication over a CAN bus OSEK Network Management (NM) Serves as the basis for distributed control functions OSEK Time Time-triggered environment for highly-dependable systems OSEK Fault Tolerant COM (FTCOM) Provides interfaces and protocols for the fault tolerant transfer of data within networks

16. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 16 OSEK OS Objects Overview Tasks Allow blocks of functionality to be called at runtime ISRs Handlers for interrupts Events Allow synchronisation of tasks Resources Create critical sections of code, giving atomic access to data or peripherals Counters & alarms Allow time-based triggering of tasks

17. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 17 OSEK Configuration OSEK OS is statically configured All objects are defined in advance Cannot be created at runtime Stored as text in OIL file Allows portability between tools Allows efficient implementation Fast execution Small memory footprint Typically around 2% of total application overhead Allows real-time analysis With suitable implementation and tools Some constraints may apply CPU rtk_cpu { OS RTKOS { STATUS = EXTENDED; STARTUPHOOK = TRUE; SHUTDOWNHOOK = FALSE; ERRORHOOK = FALSE; PRETASKHOOK = FALSE; POSTTASKHOOK = FALSE; USEGETSERVICEID = FALSE; USEPARAMETERACCESS = FALSE; }; APPMODE OSDEFAULTAPPMODE { }; TASK B { PRIORITY = 1; SCHEDULE = FULL; ACTIVATION = 1; AUTOSTART = FALSE; }; TASK A { PRIORITY = 2; SCHEDULE = FULL; ACTIVATION = 1; AUTOSTART = FALSE; }; TASK osek_idle_task { SCHEDULE = FULL; ACTIVATION = 1; AUTOSTART = TRUE; }; ISR isr1 { CATEGORY = 2; };

18. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 18 OSEK Conformance Classes Basic Conformance Class 1 - Aimed at deeply embedded applications Tasks have unique priorities Tasks cannot wait for events Single activations only Basic Conformance Class 2 Tasks can share priorities Tasks cannot wait for events Queued activations Extended Conformance Class 1 Tasks have unique priorities Tasks can wait for events Single activations only Extended Conformance Class 2 - Aimed at higher-end applications Tasks can share priorities Tasks can wait for events Single activations only Overheads Features BCC1 BCC2 ECC1 ECC2 OSEK OS supports 4 conformance classes Allows scalability in application development and efficient OS implementations Overhead per task increases with the number of features

19. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 19 How to build applications with OSEK Preemptive Application Time (ms) Category 1 ISRs to handle interrupts as fast as possible outside the OS Category 2 ISR handling sporadic interrupts with task activation Category 2 ISR from timer with 1ms tick Idle task 10ms periodic task 5ms periodic task High priority sporadic task Counter registering ticks Alarms activating periodic tasks ISR 1 ISR 2 ISR 3 ISR 4 Counter Alarm 10ms Alarm 5ms

20. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 20 How to build applications with OSEK Cooperative Application Time (ms) Idle task ISR 1 ISR 2 ISR 3 Category 2 ISRs handling task activations Tasks may create scheduling points to allow higher priority tasks to run cooperatively Can be useful for porting legacy code to an OS environment Task creates scheduling point to avoid hogging the CPU High priority tasks do not run immediately when activated Low priority task Mid-priority task High priority task

21. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 21 How to build applications with OSEK Using Resources to create critical sections OSEK OS implements the Priority Ceiling Protocol to avoid task deadlock Time (ms) Low priority task locks resource to create critical section Priority boost during critical section – avoids deadlock! Higher priority task sharing the resource cannot preempt Higher priority task not sharing the resource can preempt Critical section provides atomic access to data or peripherals

22. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 22 How to build applications with OSEK Debugging support OSEK OS has two build levels Standard build: minimal error checking in order to be as small and fast as possible in production units Extended build: full error checking and debug hooks It is possible to retrieve an error code, the API that caused it and the parameters passed in the call ORTI allows a suitable debugger to see the OS status at runtime Which task is running What states the other tasks are in Trace the execution profile of the system

23. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 23 OSEK – The Future OSEK has been a stable standard for 10 years However, the world moves on More features, new hardware, better concepts… AUTOSAR – www.autosar.orgwww.autosar.org Builds on OSEK OS to offer: The same set of features and APIs Support for memory and timing protection Support for multicore CPUs XML configuration Key concepts of scalability and efficiency are maintained

24. An Introduction to OSEK l JRD l ETAS-STV/PRM-E l 2010 © ETAS GmbH 2008. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners. 24 Summary OSEK defines a suite of open standards OSEK OS is the operating system component of OSEK Efficient implementation via static configuration and conformance classes Deadlock free operation via the Priority Ceiling Protocol Build a variety of applications using the OS objects and controls Extensive debugging support Roadmap to the future via AUTOSAR